EP1285640A2 - Arrangement de capteur, en particulier pour une prothèse, prothèse avec arrangement de capteur - Google Patents

Arrangement de capteur, en particulier pour une prothèse, prothèse avec arrangement de capteur Download PDF

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Publication number
EP1285640A2
EP1285640A2 EP02016775A EP02016775A EP1285640A2 EP 1285640 A2 EP1285640 A2 EP 1285640A2 EP 02016775 A EP02016775 A EP 02016775A EP 02016775 A EP02016775 A EP 02016775A EP 1285640 A2 EP1285640 A2 EP 1285640A2
Authority
EP
European Patent Office
Prior art keywords
sensor device
sensor
outer body
prosthesis
inner body
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP02016775A
Other languages
German (de)
English (en)
Other versions
EP1285640A3 (fr
Inventor
Lutz Biedermann
Wilfried Matthis
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Biedermann Motech GmbH and Co KG
Original Assignee
Biedermann Motech GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Biedermann Motech GmbH and Co KG filed Critical Biedermann Motech GmbH and Co KG
Publication of EP1285640A2 publication Critical patent/EP1285640A2/fr
Publication of EP1285640A3 publication Critical patent/EP1285640A3/fr
Withdrawn legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/64—Knee joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2002/607—Lower legs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2002/608—Upper legs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/66—Feet; Ankle joints
    • A61F2002/6614—Feet
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7635—Measuring means for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7695—Means for testing non-implantable prostheses

Definitions

  • the invention relates to a sensor device, in particular for a prosthesis and preferably for a leg prosthesis, and one Prosthesis with such a sensor device.
  • a sensor unit for measuring the ground reaction force required for gait analysis Such a sensor includes in most cases axial force and bending moment measurement.
  • the axial force strains which is a maximum of about 1500 N, about 5 to 10 times lower than that Strains due to bending moments that are around 150 Nm.
  • any strain sensor e.g. a strain gauge, Hall or capacitance sensor, but seeing both strains as a combination is one optimal mechanical design necessary for load separation. This is due to the low axial forces and additional load components such as. lateral bending and torsional moments difficult.
  • a high elongation is important on the axial force required to establish a stable zero point achieve.
  • WO 00/38 599 is an electronically controlled leg prosthesis with a thigh part and a lower leg part and a known knee joint connecting the two Force sensors for measuring the total force acting on the prosthesis are provided in the sole area. Furthermore are with this prosthesis force sensors for measuring the total force or the bending force provided in the shin part. The measurement however, the overall force is not independent of influences of bending components.
  • the object is achieved by a sensor device according to claim 1 or 14 or a prosthesis with one Sensor device according to claim 13.
  • the sensor device has the advantage that loads on the prosthesis by the sensor device be transmitted safely. There is also the advantage of Load separation from axial load and bending load. Through the With a prosthetic leg, the gait phases can be separated Determine floor appearance, rolling and lifting precisely. Moreover is a stable zero point regardless of the environment, i. H. of temperature fluctuations or forces during assembly such. B. exercised by screws. There is therefore no sensor drift.
  • one comprises Leg prosthesis in a known manner a thigh part 1, a lower leg part 2 and a knee joint 3 connecting the two.
  • the lower leg part 2 has a shin part 4 with a Lower leg tube 5 and a foot part 6 connected to it on.
  • the foot part 6 has one in the figures in a known manner not shown leaf spring to allow a resilient Appearance.
  • the thigh part 1 is for connection to a leg stump.
  • the artificial knee joint 3 includes a damping element in the form of a piston-cylinder device 7th
  • Fig. 2 there is also a rectangular coordinate system for the prosthesis and the forces that occur.
  • the z axis runs in the direction of a center through the pivot axis connecting axis passing through the artificial knee joint between the thigh part 1 and the shin part 4 when stretched Position of the prosthesis.
  • the x-axis and the z-axis define a swivel plane of the artificial knee joint.
  • the sensor device 15 consists, as shown in FIGS. 2 to 4 can be seen from a substantially oval annular Outer body 16 with a width b in the y direction, that is perpendicular to the pivot plane, which is approximately the distance between the side parts 9 of the Tibia part corresponds.
  • the long sides 17a, 17b of the oval Rings are oriented perpendicular to the z axis in the x direction.
  • the Side parts 9 of the shin part 4 extend on opposite Edges of one of the long sides 17a of the oval ring towards the thigh part.
  • the short side sections of the oval ring form webs 18a, 18b with a predetermined one Thickness d.
  • the longitudinal side 17b of the shin part 4 has the sensor device with a tapered section an approach 19 for connecting to the lower leg tube 5.
  • the outer body 16 is formed from a material which is light and in the ring shape shown a desired elasticity under the influence of those acting in the direction of the z-axis axial forces and bending forces acting in the swivel plane having.
  • the outer body is made of aluminum.
  • the Thickness d of the ring is chosen so that the for a measurement of Forces desired deformations occur under load.
  • Positions of sensor elements 30 are provided for detecting an in Fig. 2 represented by the curved arrow bending moment B in the swivel direction of the prosthesis.
  • the sensor elements are for example as a strain gauge (DMS) strip.
  • the sensor device furthermore has an inner body 21 arranged in the interior of the oval ring of the outer body 16 for detecting the axial force F ax acting in the z direction, which is represented by the straight arrow in FIG. 2 is on.
  • the inner body 21 consists of a web-shaped sensor part 22 with an essentially rectangular cross section to which a sensor element 31, for example a strain gauge strip, is attached.
  • the sensor part 22 forms a connecting web provided centrally between the inner sides of the long sides of an essentially rectangular ring 23. The outer and inner edges of the rectangle are rounded.
  • the width b of the ring 23 in the y direction is significantly smaller than that of the outer body 16.
  • the width b s of the sensor part 22 in the y direction is smaller than that of the ring 23.
  • the Width b s of the sensor part 22 is approximately a quarter to a third of the width b of the ring 23.
  • the sensor part 22 has a small cross section, which allows an optimal measurement of the axial force F ax .
  • the thickness d of the ring on the short sides is greater than that on the long sides, as a result of which the short sides form compensation bodies for relieving the bending of the sensor part 22.
  • the thickness d, the short sides, the width of the ring and its diameter are selected in such a way that the mass body thus formed results in a desired bending relief corresponding to the bending moment to be expected.
  • the ring 23 also has on the outer sides of the long sides the points facing away from the sensor part 22 extend across the width b of the ring 23 outwardly extending web-shaped lugs 24 at the free end of a cylindrical segment-shaped section 25 is integrally formed, the dimensions of which are such that it fits into the groove-shaped recesses 20a, 20b of the outer part fits.
  • the thickness of the webs 24 in the x direction is smaller than that of the sensor part 22 around a small area of attack for bending moments offer and thus the transfer of bending forces in the z-x plane to keep as low as possible.
  • the thickness is the web-shaped lugs 24 dimensioned so that there is a point or torque-free or low-torque connection to the Outer body 16 results.
  • the length of the webs 24 is selected that the inner body consisting of ring 23 and sensor part 22 can be inserted exactly into the outer body 16.
  • the inner body is made of the same material as the outer body for temperature-related Avoid tensions as much as possible.
  • composite Condition is the inner body in the groove-shaped recesses 20a, 20b of the outer body used and on this Place with the firmly connected, e.g. glued or welded.
  • the sensor part 22 is thus oriented in the z direction of the prosthesis and the long sides of the outer body 16 and the ring 23 of the inner body are parallel.
  • the axial force or force component F ax leads to a shortening and widening of the oval ring of the outer part 16 and thus to a measurable change in length of the sensor part 22 which is associated with the sensor 31 is detected.
  • the bending moment B that occurs leads to a shortening or compression of the one side web 18b of the outer part and to an extension of the opposite web 18a, which is detected by the sensors 19 provided on the inside of the webs 18a, 18b.
  • the bending moment is determined by forming the difference between the recorded values. As shown in Fig.
  • the sensor device 15 can but also in one piece, e.g. as an eroded or cast part be trained.
  • the sensor device does not have to be integrally formed with the shin part 4, but can also be made using a suitable fastening device, e.g. Screws are connected to the shin part.
  • the sensor device 15 ' similar to the sensor device 15, wherein but the inner body is formed only from the web 22 ' is without a ring 23 is provided. In principle this is sufficient because the outer body 16 already absorbs the bending moment.
  • a prosthetic leg with such a sensor device 15 ' is shown in Fig. 7. The bending moment can be on the inside sensors 30 of the webs 18a, 18b are measured as in the embodiment according to FIG. 3.
  • the sensors are 30 not present on the inner sides of the webs 18a, 18b, Instead, the bending moment measurement is carried out on the lower leg tube 5 or below the knee joint 3 on another Place provided as the sensor device 15 'in the shin part 2 Sensors.
  • the sensors 30, 31 do not have to be designed as a strain gauge strip but can be piezoelectric or Hall sensors or other sensors.
  • the oval Ring of the outer body formed as a rectangle.
  • the outer body is used as well as for the inner body, however not on a circular, oval, rectangular, or polygonal ring bounded but includes each closed Structure where the thickness and width of the structure are in proportion to the enclosed space is so that under the influence of a bending moment results in the described deformation.

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  • Health & Medical Sciences (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Transplantation (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Prostheses (AREA)
EP02016775A 2001-08-10 2002-07-26 Arrangement de capteur, en particulier pour une prothèse, prothèse avec arrangement de capteur Withdrawn EP1285640A3 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10139333 2001-08-10
DE10139333A DE10139333A1 (de) 2001-08-10 2001-08-10 Sensoreinrichtung, insbesondere für eine Prothese und Prothese mit einer solchen Sensoreinrichtung

Publications (2)

Publication Number Publication Date
EP1285640A2 true EP1285640A2 (fr) 2003-02-26
EP1285640A3 EP1285640A3 (fr) 2004-08-11

Family

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Family Applications (1)

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EP02016775A Withdrawn EP1285640A3 (fr) 2001-08-10 2002-07-26 Arrangement de capteur, en particulier pour une prothèse, prothèse avec arrangement de capteur

Country Status (4)

Country Link
US (1) US6918308B2 (fr)
EP (1) EP1285640A3 (fr)
JP (1) JP2003070817A (fr)
DE (1) DE10139333A1 (fr)

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WO2007048404A3 (fr) * 2005-10-26 2007-08-16 Bock Healthcare Ip Gmbh Procede de surveillance du reglage et reglage d'une prothese de membre inferieur, ainsi que procede de mesure de forces ou de couples dans une prothese de membre inferieur
US8016859B2 (en) 2006-02-17 2011-09-13 Medtronic, Inc. Dynamic treatment system and method of use
US8095198B2 (en) 2006-01-31 2012-01-10 Warsaw Orthopedic. Inc. Methods for detecting osteolytic conditions in the body
US8126736B2 (en) 2009-01-23 2012-02-28 Warsaw Orthopedic, Inc. Methods and systems for diagnosing, treating, or tracking spinal disorders
US8137277B2 (en) 2006-04-11 2012-03-20 Warsaw Orthopedic, Inc. Volumetric measurement and visual feedback of tissues
US8685093B2 (en) 2009-01-23 2014-04-01 Warsaw Orthopedic, Inc. Methods and systems for diagnosing, treating, or tracking spinal disorders
EP3724625B1 (fr) * 2017-12-11 2024-01-31 Otto Bock Healthcare Products GmbH Dispositif de mesure de force linéaire et actionneur hydraulique

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US8135556B2 (en) 2008-10-02 2012-03-13 Mts Systems Corporation Methods and systems for off-line control for simulation of coupled hybrid dynamic systems
US9477793B2 (en) 2008-10-02 2016-10-25 Mts Systems Corporation Method and systems for off-line control for simulation of coupled hybrid dynamic systems
EP2590598B1 (fr) * 2010-07-07 2019-03-13 Össur HF Procédés et systèmes de détection de contact au sol et dispositifs orthétiques et prothétiques de membre inférieur
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US9017419B1 (en) 2012-03-09 2015-04-28 össur hf Linear actuator
US9044346B2 (en) 2012-03-29 2015-06-02 össur hf Powered prosthetic hip joint
DE102012009507A1 (de) 2012-05-14 2013-11-14 Otto Bock Healthcare Gmbh Vorrichtung und Verfahren zur Bestimmung von Fehlstellungen im Aufbau von Prothesen
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WO2021040998A1 (fr) * 2019-08-30 2021-03-04 Össur Iceland Ehf Réseau de capteurs de contact avec le sol pour dispositifs prothétiques et orthétiques de membres inférieurs

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US6918308B2 (en) 2005-07-19
US20030029247A1 (en) 2003-02-13
DE10139333A1 (de) 2003-03-06
JP2003070817A (ja) 2003-03-11
EP1285640A3 (fr) 2004-08-11

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